Harvesting robots for hydroponics

ABSTRACT

Robots for autonomous harvesting of hydroponically grown organic matter with different harvesters are disclosed. The autonomous harvesting involves using one or more robots to (1) navigate a hydroponics arrangement or environment to arrive at locations of harvestable organic matter, (2) identify mature organic matter for harvesting from under-ripe or over-ripe organic matter using the robot&#39;s sensors, (3) identify the irregular positions and the irregular extraction points at which the mature organic matter is to be correctly harvested using the robot&#39;s sensors, (4) harvest the organic matter at the identified positions using the robot harvester, and (5) place the extracted organic matter into a storage bay for delivery to a packaging or shipment station. The harvester includes one or more of a vacuum, gripper, cutting saw, or clipping shears disposed about a distal end of an extendable or mechanical arm mounted atop a lift.

BACKGROUND INFORMATION

Hydroponics is an alternative to traditional farming. Hydroponicstransitions farming from outdoor soil-based methodologies to an indooror closed environment methodology. This transition provides severalbenefits and efficiencies including reduced or eliminated crop loss frominsects or adverse weather, reduced water and fertilizer usage, andreduced land consumption as some factors. Hydroponics achieves thesebenefits and efficiencies by providing near complete control over theenvironmental factors affecting crop growth as well as what and hownutrients are fed to the crop.

The significant differences in these farming methodologies have alsoresulted in a fork in farming technology. Existing machinery developedto optimize and automate many traditional outdoor soil-based farmingtasks are unusable for hydroponics. The existing machinery cannot beadapted or cannot operate in the confined space of a hydroponicsenvironment. Consequently, many of the tasks that have long beenautomated or mechanized in traditional outdoor soil-based farming stillinvolve manual or human labor in hydroponics.

One of the biggest disconnects in the technological fork betweentraditional outdoor soil-based farming and hydroponics is in harvesting.Traditional outdoor soil-based farming has long relied on tree shakers,harvesters, and other machinery to rapidly harvest organic matter fromvines, plants, or trees. Hydroponics has no such equivalent. Hydroponicsrelies heavily, and almost exclusively, on human labor to harvest thehydroponically grown organic matter.

There is therefore a need to bridge the technological fork betweentraditional outdoor soil-based farming and hydroponics and incorporatemore automation and mechanization for hydroponics. In particular, thereis a need to automate and mechanize harvesting of organic matter fromhydroponically grown vines, plants, or trees, whereby the automation andmechanization can execute within the indoor or closed confined farmingenvironment of hydroponics.

BRIEF DESCRIPTION OF THE DRAWINGS

A preferred embodiment for hydroponics harvesting robots will now bedescribed, by way of example only, with reference to the accompanyingdrawings in which:

FIG. 1 illustrates an exemplary arrangement of hydroponically grownvines, plants, or trees in accordance some embodiments.

FIG. 2 illustrates a hydroponics cultivation tray in accordance withsome embodiments.

FIG. 3 presents a process for autonomous harvesting of hydroponicallygrown organic matter in accordance with some embodiments.

FIG. 4 conceptually illustrates a robot scanning visual identifiers in ahydroponics environment in order to determine its current location andtraverse a path to a harvest location.

FIG. 5 conceptually illustrates a robot autonomously differentiatingharvestable organic matter from other organic matter in accordance withsome embodiments.

FIG. 6 illustrates a robot for autonomous harvesting of hydroponicallygrown organic matter in accordance with some embodiments.

FIGS. 7A and 7B illustrate autonomous harvesting of hydroponically grownorganic manner using a vacuum implemented harvester in accordance withsome embodiments.

FIGS. 8A and 8B illustrate an alternative manner for autonomousharvesting of hydroponically grown organic manner using a vacuumimplemented harvester in accordance with some embodiments.

FIG. 9 conceptually illustrates an alternative implementation of a robotwith a vacuum implemented harvester.

FIGS. 10A and 10B illustrate autonomous harvesting of hydroponicallygrown organic manner using a gripper in accordance with someembodiments.

FIG. 11 illustrates a robot for autonomous harvesting of hydroponicallygrown organic matter with a harvester that includes a motorized cuttingsaw in accordance with some embodiments.

FIG. 12 illustrates a robot with a movable storage bay in accordancewith some embodiments.

FIG. 13 illustrates an alternative implementation of the harvestingrobot with a movable storage container in accordance with someembodiments.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

Harvesting organic matter grown with hydroponics is very different thanharvesting organic matter grown with traditional outdoor soil-basedfarming. With traditional outdoor soil-based farming, the vines, plants,or trees are arranged in rows about a common plane, whereby the commonplane is established by the shape of the earth in which the vines,plants, or trees grow or take root. With hydroponics, the vines, plants,or trees are arranged in rows within trays or pods, and the trays orpods are placed on different shelving of one or more racks. Each rackshelf can be located about a different vertical plane.

The multiple vertical planes allow hydroponics to grow more organicmatter per square foot than is possible in traditional outdoorsoil-based farming. The organic matter growth is even more condensed forhydroponics because hydroponics eliminates soil from the farmingmethodology. Hydroponics immerses vine, plant, or tree roots directlywithin a nutrient rich liquid or mist and with no or minimal soil. As aresult, the roots can be confined to a very small space allowing thevines, plants, or trees to grow very closely next to one another. Suchconfinement and condensed planting is not possible with traditionaloutdoor soil-based farming as the roots grow and spread within the soilin order to seek out and extract the needed nutrients.

Hydroponics harvesting also differs from traditional harvesting. Theminimal or no soil growth sometimes requires a more delicate harvestingthan for vines, plants, or trees that are deeply root in soil so thatfuture growth is not affected. In other cases, hydroponics harvestinginvolves altogether different techniques. For example, when theharvestable matter is grown from a pod, the entire pod can be removedduring harvesting as opposed to pulling or shearing different stems orbranches of the vine, plant, or tree.

FIG. 1 illustrates an exemplary arrangement of hydroponically grownvines, plants, or trees in accordance some embodiments. The arrangementinvolves a horizontal and vertical placement of the vines, plants, ortrees about different shelves of different racks. The racks are arrangedin a set of rows 110, 120, and 130. Each rack contains one or moreshelves at different vertical heights. For instance, rack 110 includesshelves 140, 150, 160, 170, 180, and 190 at ascending heights.

In this figure, there is some horizontal or staggered offset betweenascending shelves of a rack. The horizontal offset provides each rackwith additional vertical clearance for organic matter to grow upwardsunobstructed. In other arrangements, the shelves can be located directlyabove one another.

In some embodiments, each shelf includes a set of pods or a tray withone or more apertures for suspending or otherwise containing theindividual vines, plants, or trees. The pods or trays can also provide aseparation barrier to keep the roots immersed in the nutrient richliquid while the remainder of the vine, plant, or tree is kept dry orseparated from the nutrient rich liquid.

FIG. 2 illustrates a hydroponics cultivation tray 210 in accordance withsome embodiments. Several of these trays may be placed on the same ordifferent shelves of a rack. Typically, a tray is used to grow the samevine, plant, or tree. Trays with different vines, plants, or trees maybe placed on different shelves or different racks.

Although the figures depict upwards growth, hydroponics also allows forthe vines, plants, or trees to be suspended for inverted growth. Someplants grow faster when inverted as the growth does not have to countergravitational forces. For instance, tomato vines can be suspended andgrow downwards, whereas lettuce or herbs prefer upwards growth.

In any hydroponics setup or environment, the growth of the vines,plants, or trees may place the harvestable organic matter in irregularpositions with different organic matter having different extractionpoints for harvesting the organic matter. The irregular extractionpoints refer to different points at which organic matter is to beharvested from the base, stem, branch, or other locations about a vine,plant, or tree. In other words, the organic matter that is to beharvested will not be the same size and shape, will not grow on vines,plants, or trees that are the same size and shape as one another, andwill therefore be in different positions about each arrangement. Thesame exact harvesting steps may therefore be inapplicable whenextracting two different instances of the same organic matter.

The embodiments disclosed herein provide robots for autonomousharvesting of hydroponically grown organic matter, wherein the organicmatter includes fruits, vegetables, plants, nuts, roots, and otheredibles that grow on vines, plants, or trees. The autonomous harvestingof some embodiments involves the robots (1) navigating a hydroponicsarrangement or environment to arrive at locations of harvestable organicmatter, (2) identifying mature organic matter for harvesting fromunder-ripe or over-ripe organic matter, (3) identifying the irregularpositions and the irregular extraction points at which the matureorganic matter is to be correctly harvested, (4) harvesting the organicmatter from the vine, plant, or tree at the identified positions, and(5) safely entering the organic matter into a repository for delivery toa packaging or shipment station.

FIG. 3 presents a process 300 for autonomous harvesting ofhydroponically grown organic matter in accordance with some embodiments.Process 300 is performed by a harvesting robot of some embodiments.

The process 300 commences with the robot receiving (at 310) instructionto harvest particular organic matter from within a hydroponicsenvironment. The instruction identifies the particular organic matter.The identification can be in the form of a visual representation of theparticular organic matter or one or more identifiers such as fiducials,barcodes, quick response (QR) codes, or other alphanumeric or symbolicrepresentations found on or associated with the one or more racks,shelves, or trays on which the particular organic matter grows. In someembodiments, the instruction directs the robot to harvest a set quantityof the particular organic matter. In some other embodiments, theinstruction directs the robot to harvest any quantity of the particularorganic matter that is ripe, and optionally harvest and discard theparticular organic matter that has spoiled or has not grown correctly.

The instruction provided to the harvesting robot can come from a centraldirector or monitoring station that coordinates the operations of one ormore harvesting robots. The instruction can also be generated internallyby the robot in response to monitors throughout the hydroponicsenvironment or regular (e.g., daily) programmatic activities performedby the robot. For instance, the robot may traverse the hydroponicsenvironment on a daily or weekly basis in order to identify and harvestripe organic matter detected by the robot during the traversal.

The process plots (at 320) and moves along a path to the harvestlocation. To do so, the robot determines its current location. The robotdetermines its current location from scanning a nearby locationidentifier, receiving location beacon information, by tracking itsgeolocation coordinates, or by using sensors to map or ascertain itsposition. The robot then identifies the destination at which theparticular organic matter is to be harvested.

In some embodiments, the robot accesses a mapping of the hydroponicsenvironment, wherein the mapping identifies locations of differentorganic matter about the hydroponics environment. The robot plots thepath to the harvest location based on the mapping.

In some other embodiments, the path traversal occurs dynamically withoutsuch a mapping. Instead, the robot relies on its sensory array and,optionally, different visual identifiers placed about the hydroponics todetermine the path to the destination. FIG. 4 conceptually illustrates arobot scanning visual identifiers in a hydroponics environment in orderto determine its current location and traverse a path to a harvestlocation. The visual identifiers are located about the rack, shelves,and trays. Each visual identifier encodes a location as well as otherinformation such as the organic matter that is grown at the indicatedlocation. The robot 410 uses cameras or other sensors from its sensoryarray in order to scan the visual identifiers. The robot 410 decodes thescans in order to the path to the harvest location identified by visualidentifier 420, wherein the visual identifier 420 can be provided to therobot as the location identifier for the particular organic matter inthe instruction received at step 310 of process 300. As noted above, thelocation identifiers can be fiducials, barcodes, quick response codes,or other visual or signal identifiers. Global Positioning System (GPS)coordinates and other beacons can alternatively or additionally be usedto guide the robot to the particular organic matter.

Returning to process 300, the process next images (at 330) or scans thevines, plants, or trees at the harvesting location. The processidentifies (at 340) harvestable particular organic matter from theimages or scans. In some embodiments, the robot autonomously identifiesthe harvestable organic matter that is ripe and sufficiently mature fromother organic matter that requires additional time to grow or hasspoiled. The autonomous identification is performed with the robotprocessing the images or scans in order to identify harvestable organicmatter that satisfies a threshold coloring, size, and shape. Part of theinstruction received at 310 may specify the threshold coloring, size,and shape for the particular organic matter that is to be harvested.Alternatively, the robot may be configured or programmed with thethresholds for each organic matter that the robot is configured toharvest.

FIG. 5 conceptually illustrates a robot 505 autonomously differentiatingharvestable organic matter from other organic matter in accordance withsome embodiments. The robot 505 is configured with the threshold color,size, and shape 510 for the harvestable organic matter. The robot 505uses one or more cameras or other sensors from its sensory array toimage a plurality of organic matter at different growth stages growingabout different branches or stems of a plant. In some embodiments, adepth camera or laser accurately determines the size and shape of theorganic matter growing on the plant and a standard camera captures theorganic matter coloring.

The robot 505 processes the image relative to the configured thresholds510. From the image processing, the robot 505 identifies organic matter520 and 530 as being mature, ripe, and ready for harvesting based on thesize, shape, and coloring of the organic matter 520 and 530 satisfyingthe thresholds 510. The robot 505 also identifies that the other organicmatter is not ready for harvesting. For instance, the shape of organicmatter 540 is too deformed, the size of organic matter 550 is too small,and the coloring of organic matter 560 does not satisfy the thresholdcoloring.

In some embodiments, the identification of harvestable organic matter isperformed semi-autonomously. In some such embodiments, the robotcaptures and sends the images or scans to a remote terminal. A secondarymachine or human operator at the remote terminal processes the images orscans before identifying and selecting the harvestable organic matter inthe image. For instance, the human operator can circle, highlight,click, or otherwise pick the harvestable organic matter appearing in theimage. The secondary machine or human operator then returns theharvestable organic matter selections to the robot.

With reference back to process 300, the process also determines (at 345)an extraction point at which the robot is to harvest the identifiedharvestable particular organic matter. The extraction point can bedefined with a distance and vector from the position of the robot atwhich the image or scan was taken to the identified harvestableparticular organic matter. The distance and vector guide movement of therobot harvester when autonomously harvesting the identified harvestableparticular organic matter. The extraction point can also be defined asspatial coordinates.

In some embodiments, the robot determines the extraction points byprocessing the images taken at step 330 or processing the harvestableorganic matter selections from the images taken at step 330. Inparticular, the robot identifies the harvestable organic matter or aselection of harvestable organic matter from the image and thendetermines the distance and vector or spatial coordinates at which theidentified organic matter is to be harvested from the robot's currentposition, wherein the current position corresponds to the position atwhich the image was taken. The robot can also leverage laser rangefinders, depth cameras, and other sensors to map the extraction point.

In some embodiments, the selection of the extraction point depends onthe delicacy or type of the organic matter, the manner with which theorganic matter grows on the vine, plant, or tree, and the harvestingmeans available to the robot. The extraction point is selected tominimize damage or bruising to the organic matter being harvested aswell as the vine, plant, or tree from which the organic matter isextracted. For organic matter grown in a removable pod, the extractionpoint can be the pod or a branch or stem growing from the pod. Theextraction point for soft organic matter may be the growth stem at whichthe robot cuts the organic matter from the vine, plant, or tree, and theextraction point for hard organic matter may be the organic matteritself whereby the robot grabs and pulls the organic matter off thevine, plant, or tree.

The process harvests (at 350) the organic matter identified at step 340at the extraction points determined at step 345 by activating andcontrolling a harvester, actuators, or other harvesting means of therobot. The harvesting further involves placing (at 360) the extractedorganic matter in a storage bay of the robot.

In some embodiments, the harvesting step involves separating the organicmatter or some stem or branch from the vine, plant, or tree from whichthe organic matter grows. In some embodiments, the harvesting stepinvolves extracting the organic matter, wherein the extraction caninvolve removing the entire vine, plant, or tree or the growth pod fromwhich the vine, plant, or tree is grown. Depending on the robot'sharvesting means, the separation or extraction is performed by picking,plucking, rotating off, or shearing the organic matter.

In preferred embodiments, the harvesting means are activated and underfull autonomous control of the robot. In some other embodiments, theharvesting means are under semi-autonomous control of the robot. In somesuch embodiments, the robot cameras provide a live view of the organicmatter before the robot to the remote terminal. A secondary machine orhuman operator at the remote terminal can then issue directions thatcontrol the harvesting means of the robot in separating the organicmatter from the plant.

In response to harvesting the set quantity of the particular organicmatter or the identified ripe instances, the process directs (at 370)the robot in returning the harvested organic matter to a packaging orsorting station. The robot transfers (at 380) the harvested organicmatter to the packaging or sorting station or opens the storage bay toallow another robot or human worker to package or sort the deliveredparticular organic matter.

Some embodiments provide robots with different harvesting means toperform the fully autonomous or semi-autonomous harvesting ofhydroponically grown organic matter as described above. The differentharvesting means enable the robots to harvest different types of organicmatter from different types of vines, plants, and trees in differenthydroponics environments. Robots with different harvesting means can bedeployed in the same hydroponics environment and can be used to harvestdifferent subsets of organic matter. For instance, robots with a firstset of harvesting means can be used to harvest tomatoes from a vinewhile robots with a different second set of harvesting means can be usedto harvest lettuce.

FIG. 6 illustrates a robot 605 for autonomous harvesting ofhydroponically grown organic matter in accordance with some embodiments.The robot 605 includes at least one power source 610, networkconnectivity (not shown), a set of sensors 620, at least one processor(not shown), a set of actuators 630, 640, 650, and 660, and a storagebay 670.

The power source 610 is a large capacity battery. The power source 610powers the robot's electronic components, including the sensors 620,processor, and actuators 630-660, for several hours of continuousoperation and harvesting. The power source 610 is rechargeable. Therobot 605 returns to a charging station when the charge level of thepower source 610 falls below a threshold level. The charging stationsupplies power to recharge the power source 610.

Instructions, tasks, commands, and configuration information are passedto the robot 605 using the network connectivity. Radio transceivers andreceivers provide wireless network connectivity and allow remotecommunication with the robot 605. As noted above, the instructions cancome from a remote terminal or central director that monitors andcoordinates the harvesting tasks provided to one or more harvestingrobots. The network connectivity also enables the semi-autonomousoperation of the robot 605. For example, the robot 605 leverages thenetwork connectivity in order to send images or scans to the remoteterminal and receive selections of harvestable organic matter from theremote terminal. The remote terminal can also leverage the networkconnectivity in order to receive a live visual feed from the robot'ssensors 620 and control the robot's actuators 630-660 during harvestingbased on the live visual feed.

In some embodiments, the set of sensors 620 comprises one or moreimaging cameras, depth cameras, range finders, scanners (for barcode,quick response code, etc.), light detection and ranging (Lidar) sensors,and positional detectors such as a Global Positioning System (GPS)receivers or light or sound beacon receivers as some examples. The setof sensors 620 provides sensory input to the robot 605 processor.

The processor controls and guides the robot's movements in response todifferent positional information collected and provided by the set ofsensors 620. As noted above, the set of sensors 620 scans, images, ordecodes fiducials, identifiers, or other beacon information positionedabout the hydroponics environment in order to detect the robot's currentposition and to plot a course to a destination location. The destinationlocation can be different trays, racks, vines, plants, or trees at whichthe robot 605 is to harvest organic matter. The destination location canbe a packaging or sorting station to which the robot 605 deliversharvested organic matter. In some other embodiments, the set of sensors620 maps a hydroponics arrangement or environment and the processorcontrols the robot's movements based on the mapping. In still some otherembodiments, the set of sensors 620 provides geolocation coordinates fornavigating based on some configured or generated mapping of thehydroponics arrangement or environment.

The set of sensors 620 further detects mature organic matter forharvesting once at a harvesting location as well as the irregularpositions and the irregular extraction points at which the detectedorganic matter is to be correctly harvested. As noted with reference toFIG. 5, one or more imaging cameras, depth cameras, and other scannersfrom the set of sensors 620 image or scan the organic matter at theharvesting location. Image and other signal or sensor processingperformed by the processor detects the maturity and ripeness of theorganic matter based on the coloring, size, and shape of the organicmatter in the images or scans obtained from the set of sensors 620. Aspart of the image processing, the robot 605 also maps the positions ofthe harvestable organic matter to determine the height, width, and depthfrom the robot's current position.

The robot 605 processor activates and controls the set of actuators630-660 based on the sensory input from the set of sensors 620. The setof actuators include motorized wheels 630, a lift 640, and a harvester.The motorized wheels 630 move the robot 605 within a hydroponicsenvironment. The lift 640 adjusts the vertical height of the robot 605and, more specifically, the vertical height of the vacuum 650. The lift640 can be a pneumatic lift or one that is operated with a motor. In theembodiments illustrated by FIG. 6, the harvester is comprised of avacuum 650 about an extendable arm 660. As shown in FIG. 6, theextendable arm 660 is a telescoping or collapsing structure with thevacuum 650 at the distal end. In its collapsed state, the extendable arm660 can be retained entirely within the robot 605 perimeter. In itsextended state, the extendable arm 660 spans several feet from the robot605 perimeter. The extendable arm 660 is disposed above a pivotingactuator that tilts the extendable arm 660 upwards, downwards, andaround. In some embodiments, the extendable arm 660 along with thepivoting actuator is a mechanical arm that moves in three dimensionalspace. The vacuum 650 includes a suction cup or other pliable surfacethat is coupled to a suction pump.

With this configuration, the robot 605 autonomously harvests organicmatter by first repositioning the robot 605. Repositioning can involveactivating the motorized wheels 630 to correct robot 605 orientation orposition the robot 605 a set distance from the organic matter to beharvested. Repositioning can also involve raising or lowering the lift640 to position the extendable arm 660 about a plane of the organicmatter to be harvested. After the robot's position relative to theorganic matter is corrected, the extendable arm 660 and vacuum 650 areused to harvest the organic matter. The vacuum 650 creates a suctionseal to engage the organic matter. Different manipulations of theextendable arm 660 then extract the organic matter. Harvesting furtherinvolves the robot 605 moving the extendable arm 660 over the storagebay 670. The robot 605 turns off the vacuum 650, thereby removing thesuction seal and causing the extracted organic matter to fall into thestorage bay 670. Alternatively, the robot 605 can place the extractedorganic matter in the storage bay of a different second robot that ispositioned alongside robot 605, wherein the second robot collects theharvested organic matter from one or more other robots, like robot 605,performing the harvesting before transferring the collected organicmatter to a packaging or sorting station.

In some embodiments, a sloped surface 680 extends from below theextendable arm 660 into the storage bay. The sloped surface 680 offers amore gradual and gentle entry for the organic matter into the storagebay 670. Rather than falling the distance separating the vacuum 650 fromthe storage bay 670, the sloped surface 680 causes the harvested organicmatter to slide or roll into the storage bay 670.

The storage bay 670 is a container for retaining the harvested organicmatter. The storage bay 670 is located in the front of the robot 605. Insome embodiments, an actuator is coupled to a door that opens and closesaccess to the storage bay 670. In some embodiments, the storage bay 670includes refrigeration to maintain the freshness of the harvestedorganic matter during transport to a packaging or sorting station.

FIGS. 7A and 7B illustrate autonomous harvesting of hydroponically grownorganic manner using the harvesting means of the FIG. 6 robot inaccordance with some embodiments. As shown in FIG. 7A, the robot movesrepositions itself before the organic matter to be harvested by poweringthe wheels and raising the lift 710 to position the extendable arm 720at a height of the organic matter to be harvested. The robot thenextends the extendable arm 720 towards the organic matter. Upon contactor sufficient distance from the organic matter, the robot activates thevacuum until a suction seal is made with the organic matter. FIG. 7B,then illustrates the extendable arm 720 rotating robot retracting theextendable arm 720 in order to pluck or extract the organic matter fromthe vine, plant, or tree from which it grew. The robot then lowers theextendable arm 720 and the lift before powering off the vacuum in orderto place the extracted organic matter in the storage bay.

In some embodiments, the extendable arm 720 rotates several revolutionsbefore retracting. The rotation aids in separating the organic matterfrom a growth stem of a vine, plant, or tree. The vacuum ensures thatthe organic matter does not fall once detached from the vine, plant, ortree.

FIGS. 8A and 8B illustrate an alternative manner for autonomousharvesting of hydroponically grown organic manner using the harvestingmeans of the FIG. 6 robot in accordance with some embodiments. In FIG.8A, the robot again raises the lift 810 to position the extendable arm820 about a height of the organic matter to be harvested. However,rather than directly engage the organic matter that is to be harvestedwith the vacuum, the robot engages a stem or branch of the vine, plant,or tree bearing the organic matter with the vacuum. In FIG. 8B, therobot raises the extendable arm 820 while continuing to engage the plantso that the plant including the pod in which it is grown is removed fromthe retention point of the corresponding shelf or tray. The entire plantcan then be placed in the storage bay. Harvesting in this manner ispreferable when the harvestable organic matter is the entire plant, suchas the case with lettuce, or when the harvestable organic manner isbetter picked by humans. In the latter case, the robots expedite thepicking of the harvestable organic manner by bringing the plants withthe organic matter to the human rather than move the human from plant toplant.

It should be noted that the extendable arm of some embodiments includesone or more joints at which the direction of the extendable arm can bealtered. The joints can be located at each telescoping section of theextendable arm. Moreover, the joints can be coupled with an actuatorthat separately controls the extension of the section and the directionof in which the section is extended. By manipulating the joints, theextendable arm can be made to maneuver under, above, and around vines,plants, or trees in order to reach individual stems at which organicmatter is to be harvested.

FIG. 9 conceptually illustrates an alternative implementation of a robot905 with a vacuum implemented harvester. The robot 905 shares themotorized base, power source, processor, and network connectivity ofrobot 605 from FIG. 6. The robot 905 further comprises a lift 910implemented as a folding framework. Atop the lift 910 is a platform 920across which the vacuum 930 is moved by a motor. The vacuum 930 is movedto the front edge of the platform 920 in order to engage organic matterthat is to be harvested. The vacuum 930 is then retracted to extract theorganic matter. The lift 910 can be raised or lowered as in FIGS. 8A and8B to aid in the extraction. The extracted organic matter rests atop theplatform 920 or is placed on another robot for delivery to a packagingor sorting station.

Some embodiments implement the robots with different harvesters orharvesting means than what is depicted above. In particular, someembodiments modify the set of actuators comprising the harvester bysubstituting the vacuum with grippers. The grippers are two or morepincers with which the robot grabs the organic matter that is to beharvested. The grippers create two or more points of contact with theorganic matter. In some embodiments, the grippers fully close around andencircle the organic matter. This aids in extraction when engaging aplant about the base stem and lifting the plant to extract the entireplant.

FIGS. 10A and 10B illustrates a robot 1005 configured with grippers atthe distal end of the extendable arm autonomously harvestinghydroponically grown organic matter in accordance with some embodiments.Similar to FIG. 8A, FIG. 10A illustrates the robot 1005 using motorizedwheels to arrive at a harvesting location and adjusting the level of theextendable arm 1010 by raising or lower the lift 1020 atop which theextendible arm 1010 is located. FIG. 10A further illustrates the robot1005 extending the extendible arm 1010 towards the organic matter withthe grippers 1030 in an open position. Once the grippers 1030 arepositioned over, around, or next to the organic matter, an actuatorcloses the grippers 1030 on the organic matter. When picking organicmatter from a vine, plant, or tree, the grippers close around theorganic matter. The grippers can then rotate or tilt vertically orhorizontally to aid in harvesting the organic matter. The harvesting isfurther aided by retracting the extendable arm 1010 towards the robotwith the grippers 1030 engaging the organic matter. FIG. 10B illustratesthe robot 1005 manipulating the extendable arm 1010 over the storage bay1040, lowering the extendable lift 1020 to reduce the distance betweenthe grippers 1030 and the storage bay 1040, and opening the grippers1040 to place the harvested organic matter in the storage bay 1040. Insome embodiments, the grippers are used to encircle or close around astem or branch and to lift and remove the entire plant from its growthlocation rather than separate some organic matter from the plant.

For certain vines, plants, or trees, pulling or rotating to extract theorganic matter could damage the organic matter or the vine, plant, ortree from which the organic matter is harvested. Accordingly, someembodiments provide another modified harvester.

FIG. 11 illustrates a robot for autonomous harvesting of hydroponicallygrown organic matter with a harvester that includes a motorized cuttingsaw in accordance with some embodiments. As shown, the robot 1105 againincludes a motorized base, a set of sensors, a lift, a storage bay, andan extendable arm. The motorized saw 1110 is located at the distal endof the extendable arm. The robot 1105 relies on the set of sensors toidentify a base or stem at which to activate the motorized saw 1110 inorder to safely remove the organic matter. Before cutting the organicmatter, the robot 1105 positions the storage bay underneath the organicmatter so that when the organic matter is cut, it falls into the storagebay.

Some embodiments provide a movable platform underneath the storage bayfor positioning the storage bay underneath the organic matter prior toactivating the motorized saw. FIG. 12 illustrates a robot 1205 with amovable storage bay in accordance with some embodiments. As shown, therobot 1205 is configured with a second lift 1210. The second lift 1210has a platform 1220 above which the storage bay 1230 is located. Thesecond lift 1210 raises and lowers a height of the storage bay 1230. Theplatform 1220 contains an actuator for moving the storage bay 1230sideways as well as forwards and backwards atop the second lift 1210. Bymanipulating the second lift 1210 and the platform 1220, the robot 1205can minimize the distance separating the storage bay 1230 from theorganic matter that is cut using the motorized cutting saw. In someembodiments, a camera or other sensor 1240 is positioned about theplatform 1220 or storage bay 1230 to assist in aligning the storage bay1230 with the organic matter that is to be cut.

Some embodiments provide an extendable arm that includes both themotorized cutting saw with the vacuum of FIG. 6 or the gripper of FIGS.10A and 10B. In some such embodiments, the robot uses the vacuum orgripper to couple to the organic matter to be harvested. The robot thenrelies on the set of sensors to identify a base or stem at which toactivate the motorized cutting saw in order to safely remove the organicmatter. Once the organic matter is cut from the vine, plant, or tree,the vacuum or gripper can gently deposit the organic matter into thestorage bay.

Some embodiments substitute clipping shears in place of the motorizedcutting saw at the distal end of the extendable arm. The clipping shearsinclude one or more sharp or serrated edges for cutting or pruningorganic matter from vines, plants, or trees harvested by the robot. Anactuator opens and closes the clipping shears. In some such embodiments,the robot positions the clipping shears over a stem or base of theorganic matter by manipulating the extendable arm. The positioning canfurther involve repositioning the robot base by activating the motorizedwheels and by raising or lowering the lift to adjust the height of theclipping shears. The robot activates the clipping shears to cut theorganic matter from the vine, plant, or tree. The cut organic matterfalls into the robot's storage bay.

FIG. 13 illustrates an alternative implementation of the harvestingrobot with a movable storage container in accordance with someembodiments. As shown, the robot 1305 includes a single lift 1310. Aplatform 1320 is positioned atop the lift 1310. The platform 1320includes a mechanical arm 1330 with a harvester and a movable storagecontainer 1340. The mechanical arm 1330 rotates around the platform 1320and lifts or lowers to align with organic matter that is to beharvested. A vacuum with a suction cup is disposed about the distal endof the mechanical arm 1330, although the vacuum can be replaced with thegripper, cutting saw, or clipping shears described above. An actuatorcontrols movement of the storage container 1340 across the platform1320. The actuator can move the storage container forward, backward, orsideways about the platform. Sensors located on the platform 1320 and/orthe mechanical arm 1330 guide the actuator in positioning the storagecontainer 1340 under the organic matter that is to be harvested or underthe harvester at the distal end of the mechanical arm 1330. In someembodiments, the actuator couples to the storage container with a set ofnubs or protrusions. This allows for easy interchanging of the storagecontainer 1340. For example, the robot 1305 can deliver a full storagecontainer 1340 to a packaging or storage station. A human or other robotat the station removes the full storage container and inserts an emptystorage container in its place so that the robot 1305 may resume theharvesting operations.

Robot locomotion thus far has been described with motorized wheels. Theactuators providing robot locomotion can be changed without changing themanner by which the various robots harvest organic matter. Someembodiments replace the motorized wheels with a pair of motorized tracksthat can be controlled independent of one another. Some otherembodiments replace the motorized wheels with motorized propellers. Thepropellers enable aerial locomotion and allow the robots to navigate inhydroponics environments that are densely packed as well as to reachtrays or racks that are positioned away from navigable paths on theground.

In any case, the actuators adapt the robots for movement in anyenvironment in which humans can also perform extraction as well as inother environments that are too dense for humans. The actuators alsoextend the robots' reach both vertically and horizontally beyond humanreach.

In addition to the autonomous harvesting described above, the robots setforth herein can also autonomously monitor the health of thehydroponically grown organic matter. The health monitoring isimplemented using the robots' set of sensors. A robot can positionitself in the same locations at different times (e.g., days) and takeimages of the organic matter. The robot compares current images withprevious images taken from the same location for deviations. Deviationsbetween the images will reveal growth rates and health of the organicmatter. Growth rates can be computed based on deviations in organicmatter size in two different images. Health can also be computed basedon deviations in organic matter size in two different images. Inparticular, the robot can determine health based on whether a plant isgrowing at an expected rate as well as the size of blooms or organicmatter yield. The robot can also determine health without reference toprior images. In particular, the robot can determine health based on theorganic matter coloring. Other aspects of an image from which the robotautonomously ascertains health include detection of insects or otherunexpected organisms (e.g., fungus, mold, etc.).

In response to the monitoring, the robot can adjust nutrient levels,lighting, temperature, and other factors affecting growth. In someembodiments, the robot wirelessly or physically modifies lighting andtemperature controls. In some embodiments, the robot deposits nutrientrich liquids or nutrient tablets that dissolve in water in or aroundplants in need of additional nutrients. The robot can also triggerchanges in lighting and temperature by communicating the healthmonitoring results to a central controller. The robot can also submitthe images to the central controller for storage or for analysis. Forinstance, images that the robot passes to the central controller can beinspected by a human that then directs the robot to deposit additionalnutrients or that adjusts lighting and temperature as needed. The humancan also initiate harvesting based on the received images by selectingthe organic matter that the robot is to harvest.

In the preceding specification, various preferred embodiments have beendescribed with reference to the accompanying drawings. It will, however,be evident that various modifications and changes may be made thereto,and additional embodiments may be implemented, without departing fromthe broader scope of the invention as set forth in the claims thatfollow. The specification and drawings are accordingly to be regarded inan illustrative rather than restrictive sense.

We claim:
 1. A robot comprising: a motorized base; an expandable andcollapsible lift mounted atop and at a back of the motorized base, thelift vertically raising and lowering to a plurality of heights; apivoting first actuator connected to a top of the lift; an extendablesecond actuator with a proximal end directly connected to the pivotingactuator, and a distal end that extends out from the proximal end,wherein the extendable second actuator rotates above the lift byoperation of the pivoting first actuator; a harvesting third actuatorconnected at the distal end of the extendable second actuator; a storagebay mounted atop and at a front of the motorized base, the storage baycomprising a container with walls rising from the motorized base infront of said lift to a first height, the storage bay further comprisinga sloped solid surface that is connected to a wall closest to the liftat the first height, and that extends from the first height at an angletowards the lift to a greater second height that is below the harvestingthird actuator; and a processor controlling said lift to adjust theharvesting third actuator to a particular height aligned with at leastone item of harvestable organic matter from a plurality of organicmatter growing on a vine, plant, or tree, and further controlling one ormore of the lift, the pivoting first actuator, the extendable secondactuator, and the harvesting third actuator in separating the at leastone item of harvestable organic matter from the vine, plant, or tree anddepositing the at least one item of harvestable organic matter into thestorage bay after said separating.
 2. The robot of claim 1 furthercomprising a set of sensors imaging or scanning a plurality of organicmatter growing on the vine, plant, or tree.
 3. The robot of claim 2,wherein the processor further differentiates a first set of harvestableorganic matter and a different second set of organic matter that is notharvestable from the plurality of organic matter based on said imagingor scanning from the set of sensors.
 4. The robot of claim 1, whereinthe motorized base comprises wheels, at least a first motor driving thewheels, and batteries powering said first motor, wherein the processorfurther controls the first motor in moving the robot across a pluralityof racks from which a plurality of vines, plants, or trees are grown. 5.The robot of claim 1, wherein the harvesting third actuator comprises amechanical arm.
 6. The robot of claim 1, wherein the harvesting thirdactuator comprises mechanical clipping shears coupled at the distal endof the extendable second actuator.
 7. The robot of claim 6, wherein theextendable second actuator extracts the at least one item of harvestableorganic matter by (i) positioning the clipping shears adjacent to the atleast one item of harvestable organic matter with activation of theextendable second actuator and (ii) cutting the at least one item ofharvestable organic matter from the vine, plant, or tree as a result ofactivating the mechanical clipping shears in a manner so that the atleast one item of harvestable organic matter falls into the storage bay.8. A robot comprising: a motorized base; a set of sensors generating atleast a first set of sensory input from imaging or scanning visualidentifiers distributed about a site and a second set of sensory inputfrom imaging or scanning a plurality of edible organic matter growing ata particular rack of a plurality of racks in said site; a lift extendingvertically above the motorized base from a back of the motorized base; apivoting first actuator connected to a top of the lift; an extendablesecond actuator with a proximal end directly connected to the pivotingfirst actuator, and a distal end that extends out from the proximal end,wherein the extendable second actuator rotates above the lift byoperation of the pivoting first actuator; an organic matter harvesterconnected at the distal end of the extendable second actuator; a storagebay mounted atop and at a front of the motorized base, the storage baycomprising a container with walls rising at an angle to a first heightfrom the front of the motorized base towards said lift, the storage bayfurther comprising a sloped solid surface that extends at the angle fromthe first height to a greater second height below the organic matterharvester; and a processor communicably coupled to the motorized base,the set of sensors, the pivoting first actuator, the extendable secondactuator, and the organic matter harvester, wherein the processorcontrols the motorized base in moving said robot to the particular rackbased on the first set of sensory input; and wherein the processorfurther controls the first pivoting actuator, the extendable secondactuator, and the organic matter harvester in: moving to an extractionpoint for edible organic matter at the particular rack that isidentified from the second set of sensory input, engaging the edibleorganic matter that is attached to a plant, tree, or vine at theextraction point with the organic matter harvester based in part on afirst set of adjustments to one or more of a height of the lift, alength of the extendable second actuator, and rotation of the extendablearm by the pivoting first actuator, separating the edible organic matterfrom the extraction point while continuing to engage the edible organicmatter with the organic matter harvester, releasing the edible organicmatter over the sloped solid surface of storage bay based in part on adifferent second set of adjustments to one or more of the height of thelift, the length of the extendable second actuator, and the rotation ofthe extendable arm by the pivoting first actuator.
 9. The robot of claim8, wherein the processor determines the extraction point based in parton detecting from the second set of sensory input, the edible organicmatter matching a threshold size, shape, and coloring and other edibleorganic matter from the plurality of edible organic matter not matchingat least one of the threshold size, shape, and coloring.
 10. The robotof claim 8, wherein the set of sensors comprises one or more of animaging camera, a depth camera, a scanner, and a range finder.
 11. Therobot of claim 8, wherein the storage bay comprises motorized doorsopening prior to said releasing and closing after the edible organicmatter transfer from the sloped solid surface into the storage bay.